functionfrom_T_inv
Return orientation object R from inverse transformation matrix T_inv
Extends from Modelica.Icons.Function (Icon for functions).
Information
Syntax
R = Frames.from_T_inv(T_inv, w);
Description
This function returns an orientation object R assembled from an inverse transformation matrix T_inv and a correspondent angular velocity vector w. Generally, the transformation matrix T_inv can be gained using a function from the TransformationMatrices package, e.g. using T_inv = inverseRotation(T). Note that the velocity vector w has to be calculated accordingly.
See also
from_T, TransformationMatrices.from_T_inv, Quaternions.from_T_inv.
Inputs
| Type | Name | Default | Description |
|---|---|---|---|
| Real[3,3] | T_inv | Inverse transformation matrix to transform vector from frame 2 to frame 1 (v1=T_inv*v2) | |
| SI.AngularVelocity[3] | w | Angular velocity from frame 1 with respect to frame 2, resolved in frame 1 (skew(w)=T_inv*der(transpose(T_inv))) |
Outputs
| Type | Name | Default | Description |
|---|---|---|---|
| Orientation | R | Orientation object to rotate frame 1 into frame 2 |